Add asset desktop_supplies/office_tools/fe35eece939c53bc99adcec5da8a4cc9
Browse files
.gitattributes
CHANGED
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@@ -6697,3 +6697,4 @@ dataset/desktop_supplies/office_tools/fa14aebd594e58b5bc7cf2a5e7213c79/affordanc
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| 6697 |
dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6698 |
dataset/desktop_supplies/office_tools/fc01d179ce335b0da2f8f015bf0e7240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6699 |
dataset/desktop_supplies/office_tools/fbd39759401659929d5c8fa5642196a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6697 |
dataset/desktop_supplies/office_tools/fb621425267e540f88843f88587ac187/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6698 |
dataset/desktop_supplies/office_tools/fc01d179ce335b0da2f8f015bf0e7240/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6699 |
dataset/desktop_supplies/office_tools/fbd39759401659929d5c8fa5642196a7/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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| 6700 |
+
dataset/desktop_supplies/office_tools/fe35eece939c53bc99adcec5da8a4cc9/affordance/mesh_part_seg.glb filter=lfs diff=lfs merge=lfs -text
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dataset/desktop_supplies/office_tools/fe35eece939c53bc99adcec5da8a4cc9/affordance/affordance_annot.json
ADDED
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@@ -0,0 +1,415 @@
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|
| 1 |
+
{
|
| 2 |
+
"affordances": [
|
| 3 |
+
{
|
| 4 |
+
"part_name": "handle",
|
| 5 |
+
"mask_color": "Pink",
|
| 6 |
+
"graspable": true,
|
| 7 |
+
"grasp_scenarios": [
|
| 8 |
+
{
|
| 9 |
+
"scenario": "grasp the main handle to pick up and reposition the magnifying glass",
|
| 10 |
+
"confidence": 0.98
|
| 11 |
+
},
|
| 12 |
+
{
|
| 13 |
+
"scenario": "hold the handle to aim the lens over text or an object",
|
| 14 |
+
"confidence": 0.96
|
| 15 |
+
},
|
| 16 |
+
{
|
| 17 |
+
"scenario": "stabilize the object by clamping the handle during inspection",
|
| 18 |
+
"confidence": 0.92
|
| 19 |
+
}
|
| 20 |
+
],
|
| 21 |
+
"functional_labels": [
|
| 22 |
+
"primary handhold",
|
| 23 |
+
"support the lens head",
|
| 24 |
+
"enable aiming",
|
| 25 |
+
"provide reach",
|
| 26 |
+
"main grasp surface"
|
| 27 |
+
],
|
| 28 |
+
"semantic_description": "Long light beige or ivory handle with a smooth matte finish, likely painted wood or plastic, slightly tapered and cylindrical, forming the main body of the magnifier.",
|
| 29 |
+
"id": 8,
|
| 30 |
+
"grasp_group": {
|
| 31 |
+
"grasp_40": {
|
| 32 |
+
"confidence": 0.8841564655303955,
|
| 33 |
+
"position": [
|
| 34 |
+
-0.05193727208825294,
|
| 35 |
+
-0.1227050480665639,
|
| 36 |
+
4.528571298578754e-05
|
| 37 |
+
],
|
| 38 |
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"orientation": {
|
| 39 |
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"w": 0.6202302937845084,
|
| 40 |
+
"xyz": [
|
| 41 |
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-0.3580436227911102,
|
| 42 |
+
0.6158808071894701,
|
| 43 |
+
0.3283442982392805
|
| 44 |
+
]
|
| 45 |
+
}
|
| 46 |
+
},
|
| 47 |
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"grasp_41": {
|
| 48 |
+
"confidence": 0.8786303997039795,
|
| 49 |
+
"position": [
|
| 50 |
+
-0.0009505412454018369,
|
| 51 |
+
-0.13762802456039935,
|
| 52 |
+
-0.002176913694711402
|
| 53 |
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],
|
| 54 |
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"orientation": {
|
| 55 |
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"w": 0.5471429094534017,
|
| 56 |
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"xyz": [
|
| 57 |
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-0.5375948178108848,
|
| 58 |
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-0.4510311172889938,
|
| 59 |
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-0.4562865105772801
|
| 60 |
+
]
|
| 61 |
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}
|
| 62 |
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},
|
| 63 |
+
"grasp_42": {
|
| 64 |
+
"confidence": 0.8758126497268677,
|
| 65 |
+
"position": [
|
| 66 |
+
-0.0023959372338140383,
|
| 67 |
+
-0.13726471934933215,
|
| 68 |
+
-0.005294715316267684
|
| 69 |
+
],
|
| 70 |
+
"orientation": {
|
| 71 |
+
"w": 0.5172003249261701,
|
| 72 |
+
"xyz": [
|
| 73 |
+
-0.4894925343149849,
|
| 74 |
+
0.49875650450708375,
|
| 75 |
+
0.4941081176807695
|
| 76 |
+
]
|
| 77 |
+
}
|
| 78 |
+
},
|
| 79 |
+
"grasp_44": {
|
| 80 |
+
"confidence": 0.9502891302108765,
|
| 81 |
+
"position": [
|
| 82 |
+
0.09923721732047852,
|
| 83 |
+
-0.04360698733944446,
|
| 84 |
+
0.007851358241168782
|
| 85 |
+
],
|
| 86 |
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"orientation": {
|
| 87 |
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"w": 0.013123330603178988,
|
| 88 |
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"xyz": [
|
| 89 |
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-0.7424156203426913,
|
| 90 |
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0.017514924113798513,
|
| 91 |
+
0.6695819981886794
|
| 92 |
+
]
|
| 93 |
+
}
|
| 94 |
+
},
|
| 95 |
+
"grasp_48": {
|
| 96 |
+
"confidence": 0.9365910887718201,
|
| 97 |
+
"position": [
|
| 98 |
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0.08149096251872834,
|
| 99 |
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-0.09056313906330615,
|
| 100 |
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-0.0024617051531095058
|
| 101 |
+
],
|
| 102 |
+
"orientation": {
|
| 103 |
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"w": 0.18479998459797986,
|
| 104 |
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"xyz": [
|
| 105 |
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-0.6657003481247789,
|
| 106 |
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0.22511127225023597,
|
| 107 |
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0.6870348807047684
|
| 108 |
+
]
|
| 109 |
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}
|
| 110 |
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},
|
| 111 |
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"grasp_55": {
|
| 112 |
+
"confidence": 0.9194995164871216,
|
| 113 |
+
"position": [
|
| 114 |
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0.08603142829088029,
|
| 115 |
+
-0.0904159975470975,
|
| 116 |
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0.008820273651508614
|
| 117 |
+
],
|
| 118 |
+
"orientation": {
|
| 119 |
+
"w": 0.6380081241166964,
|
| 120 |
+
"xyz": [
|
| 121 |
+
-0.17170258556934156,
|
| 122 |
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-0.7190448270068075,
|
| 123 |
+
-0.21549569003728986
|
| 124 |
+
]
|
| 125 |
+
}
|
| 126 |
+
},
|
| 127 |
+
"grasp_56": {
|
| 128 |
+
"confidence": 0.9181472063064575,
|
| 129 |
+
"position": [
|
| 130 |
+
-0.08918318270298187,
|
| 131 |
+
-0.08572074596304446,
|
| 132 |
+
0.001046933204634115
|
| 133 |
+
],
|
| 134 |
+
"orientation": {
|
| 135 |
+
"w": 0.6812104226801937,
|
| 136 |
+
"xyz": [
|
| 137 |
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-0.17958532991985784,
|
| 138 |
+
0.6896987141314871,
|
| 139 |
+
0.16738325195437143
|
| 140 |
+
]
|
| 141 |
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}
|
| 142 |
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},
|
| 143 |
+
"grasp_59": {
|
| 144 |
+
"confidence": 0.9149242043495178,
|
| 145 |
+
"position": [
|
| 146 |
+
0.08585946889070328,
|
| 147 |
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-0.08937254373449832,
|
| 148 |
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-0.0022498250764328986
|
| 149 |
+
],
|
| 150 |
+
"orientation": {
|
| 151 |
+
"w": 0.6852526584217443,
|
| 152 |
+
"xyz": [
|
| 153 |
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-0.19098500795414894,
|
| 154 |
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-0.6738651449236636,
|
| 155 |
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-0.19964790837796584
|
| 156 |
+
]
|
| 157 |
+
}
|
| 158 |
+
}
|
| 159 |
+
}
|
| 160 |
+
},
|
| 161 |
+
{
|
| 162 |
+
"part_name": "lens frame",
|
| 163 |
+
"mask_color": "Blue",
|
| 164 |
+
"graspable": true,
|
| 165 |
+
"grasp_scenarios": [
|
| 166 |
+
{
|
| 167 |
+
"scenario": "grasp the outer rim briefly to pick up the magnifier when the handle is not accessible",
|
| 168 |
+
"confidence": 0.52
|
| 169 |
+
},
|
| 170 |
+
{
|
| 171 |
+
"scenario": "hold the frame lightly to steady the lens head during careful placement",
|
| 172 |
+
"confidence": 0.44
|
| 173 |
+
}
|
| 174 |
+
],
|
| 175 |
+
"functional_labels": [
|
| 176 |
+
"hold the lens",
|
| 177 |
+
"protect lens edge",
|
| 178 |
+
"define viewing head",
|
| 179 |
+
"connect lens assembly to handle"
|
| 180 |
+
],
|
| 181 |
+
"semantic_description": "Round silver-toned outer ring around the lens, rigid and slightly reflective, with a thick circular profile at the head of the magnifier.",
|
| 182 |
+
"id": 2,
|
| 183 |
+
"grasp_group": {
|
| 184 |
+
"grasp_6": {
|
| 185 |
+
"confidence": 0.7049765586853027,
|
| 186 |
+
"position": [
|
| 187 |
+
0.002930323578766547,
|
| 188 |
+
-0.13525809918064624,
|
| 189 |
+
-0.0026060436211992055
|
| 190 |
+
],
|
| 191 |
+
"orientation": {
|
| 192 |
+
"w": 0.11896687073495774,
|
| 193 |
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"xyz": [
|
| 194 |
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-0.10460614364945377,
|
| 195 |
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-0.6924234720640691,
|
| 196 |
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-0.7038850571741527
|
| 197 |
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]
|
| 198 |
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}
|
| 199 |
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}
|
| 200 |
+
}
|
| 201 |
+
},
|
| 202 |
+
{
|
| 203 |
+
"part_name": "lens",
|
| 204 |
+
"mask_color": "Peach",
|
| 205 |
+
"graspable": false,
|
| 206 |
+
"grasp_scenarios": [],
|
| 207 |
+
"functional_labels": [
|
| 208 |
+
"magnify viewed objects",
|
| 209 |
+
"transmit light",
|
| 210 |
+
"enable close inspection",
|
| 211 |
+
"optical viewing surface"
|
| 212 |
+
],
|
| 213 |
+
"semantic_description": "Circular transparent lens inset within the frame, appearing pale or whitish because of reflections, with a smooth glossy glass surface.",
|
| 214 |
+
"id": null
|
| 215 |
+
},
|
| 216 |
+
{
|
| 217 |
+
"part_name": "neck joint",
|
| 218 |
+
"mask_color": "Cyan",
|
| 219 |
+
"graspable": true,
|
| 220 |
+
"grasp_scenarios": [
|
| 221 |
+
{
|
| 222 |
+
"scenario": "pinch the neck area to adjust orientation in a constrained workspace",
|
| 223 |
+
"confidence": 0.39
|
| 224 |
+
},
|
| 225 |
+
{
|
| 226 |
+
"scenario": "hold near the neck to stabilize the lens head while manipulating the object",
|
| 227 |
+
"confidence": 0.35
|
| 228 |
+
}
|
| 229 |
+
],
|
| 230 |
+
"functional_labels": [
|
| 231 |
+
"connect handle to lens head",
|
| 232 |
+
"support head angle",
|
| 233 |
+
"transfer load between parts",
|
| 234 |
+
"reinforce joint"
|
| 235 |
+
],
|
| 236 |
+
"semantic_description": "Short light beige connector between the handle and circular frame, smooth and rigid, slightly narrowed and angled relative to the handle.",
|
| 237 |
+
"id": 6,
|
| 238 |
+
"grasp_group": {
|
| 239 |
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"grasp_24": {
|
| 240 |
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"confidence": 0.7263387441635132,
|
| 241 |
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"position": [
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| 242 |
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|
| 243 |
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|
| 244 |
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|
| 245 |
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],
|
| 246 |
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"orientation": {
|
| 247 |
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"w": 0.3552517997894175,
|
| 248 |
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"xyz": [
|
| 249 |
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-0.657342430074079,
|
| 250 |
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|
| 251 |
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|
| 252 |
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]
|
| 253 |
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}
|
| 254 |
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},
|
| 255 |
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"grasp_29": {
|
| 256 |
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"confidence": 0.9795239567756653,
|
| 257 |
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"position": [
|
| 258 |
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0.09063538046029862,
|
| 259 |
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-0.045224232715554535,
|
| 260 |
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|
| 261 |
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],
|
| 262 |
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"orientation": {
|
| 263 |
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"w": 0.12477546364384189,
|
| 264 |
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"xyz": [
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| 265 |
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|
| 266 |
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|
| 267 |
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0.6143193233574263
|
| 268 |
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]
|
| 269 |
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}
|
| 270 |
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},
|
| 271 |
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"grasp_33": {
|
| 272 |
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"confidence": 0.977674126625061,
|
| 273 |
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"position": [
|
| 274 |
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|
| 275 |
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|
| 276 |
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-0.022256617696257308
|
| 277 |
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],
|
| 278 |
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"orientation": {
|
| 279 |
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"w": 0.7868617096983918,
|
| 280 |
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"xyz": [
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| 281 |
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|
| 282 |
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|
| 283 |
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-0.008865481975528857
|
| 284 |
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]
|
| 285 |
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}
|
| 286 |
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},
|
| 287 |
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"grasp_34": {
|
| 288 |
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"confidence": 0.9770246744155884,
|
| 289 |
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| 290 |
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|
| 291 |
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0.023507159086875618,
|
| 292 |
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|
| 293 |
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],
|
| 294 |
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"orientation": {
|
| 295 |
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"w": 0.1395998434360239,
|
| 296 |
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"xyz": [
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| 297 |
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|
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|
| 299 |
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|
| 300 |
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]
|
| 301 |
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}
|
| 302 |
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},
|
| 303 |
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"grasp_35": {
|
| 304 |
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"confidence": 0.9768630266189575,
|
| 305 |
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"position": [
|
| 306 |
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0.08742543937114533,
|
| 307 |
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0.03629914845805615,
|
| 308 |
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0.00025837638531811535
|
| 309 |
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],
|
| 310 |
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"orientation": {
|
| 311 |
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"w": 0.6852973985309144,
|
| 312 |
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"xyz": [
|
| 313 |
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0.18544005911029035,
|
| 314 |
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-0.6776423921762982,
|
| 315 |
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0.1917817727770721
|
| 316 |
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]
|
| 317 |
+
}
|
| 318 |
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},
|
| 319 |
+
"grasp_38": {
|
| 320 |
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"confidence": 0.9761072397232056,
|
| 321 |
+
"position": [
|
| 322 |
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0.0827551248803502,
|
| 323 |
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-0.029000578564591706,
|
| 324 |
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0.048776137380627915
|
| 325 |
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],
|
| 326 |
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"orientation": {
|
| 327 |
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"w": 0.0803059792666209,
|
| 328 |
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"xyz": [
|
| 329 |
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-0.8676371328806102,
|
| 330 |
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0.0107145020533424,
|
| 331 |
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0.4905527033729326
|
| 332 |
+
]
|
| 333 |
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}
|
| 334 |
+
},
|
| 335 |
+
"grasp_39": {
|
| 336 |
+
"confidence": 0.9742069840431213,
|
| 337 |
+
"position": [
|
| 338 |
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0.09020002068427857,
|
| 339 |
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0.03148734744172543,
|
| 340 |
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-0.010079312400193885
|
| 341 |
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],
|
| 342 |
+
"orientation": {
|
| 343 |
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"w": 0.15981133999913907,
|
| 344 |
+
"xyz": [
|
| 345 |
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0.6519655660597015,
|
| 346 |
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0.1722523005400235,
|
| 347 |
+
-0.7209232838789458
|
| 348 |
+
]
|
| 349 |
+
}
|
| 350 |
+
}
|
| 351 |
+
}
|
| 352 |
+
},
|
| 353 |
+
{
|
| 354 |
+
"part_name": "pen nib",
|
| 355 |
+
"mask_color": "Green",
|
| 356 |
+
"graspable": false,
|
| 357 |
+
"grasp_scenarios": [],
|
| 358 |
+
"functional_labels": [
|
| 359 |
+
"writing tip",
|
| 360 |
+
"mark surfaces with ink",
|
| 361 |
+
"provide fine point for writing",
|
| 362 |
+
"define pen-like end of handle"
|
| 363 |
+
],
|
| 364 |
+
"semantic_description": "Small pointed fountain-pen-style nib at the far end of the handle, tan or brass-colored, smooth and slightly reflective with a split pointed tip.",
|
| 365 |
+
"id": 1,
|
| 366 |
+
"grasp_group": {}
|
| 367 |
+
},
|
| 368 |
+
{
|
| 369 |
+
"part_name": "nib collar",
|
| 370 |
+
"mask_color": "Yellow",
|
| 371 |
+
"graspable": false,
|
| 372 |
+
"grasp_scenarios": [],
|
| 373 |
+
"functional_labels": [
|
| 374 |
+
"join nib to handle",
|
| 375 |
+
"reinforce nib connection",
|
| 376 |
+
"provide transition between handle and nib"
|
| 377 |
+
],
|
| 378 |
+
"semantic_description": "Narrow yellow-gold band around the handle directly behind the nib, small and slightly reflective.",
|
| 379 |
+
"id": 3,
|
| 380 |
+
"grasp_group": {}
|
| 381 |
+
},
|
| 382 |
+
{
|
| 383 |
+
"part_name": "handle collar",
|
| 384 |
+
"mask_color": "Magenta",
|
| 385 |
+
"graspable": false,
|
| 386 |
+
"grasp_scenarios": [],
|
| 387 |
+
"functional_labels": [
|
| 388 |
+
"provide transition from handle to neck",
|
| 389 |
+
"reinforce handle-neck connection",
|
| 390 |
+
"decorative band"
|
| 391 |
+
],
|
| 392 |
+
"semantic_description": "Thin ring-shaped collar at the handle-to-neck transition, smooth and light colored, forming a small circumferential band just before the neck joint.",
|
| 393 |
+
"id": 7,
|
| 394 |
+
"grasp_group": {}
|
| 395 |
+
},
|
| 396 |
+
{
|
| 397 |
+
"part_name": "inner retaining ring",
|
| 398 |
+
"mask_color": "Purple",
|
| 399 |
+
"graspable": false,
|
| 400 |
+
"grasp_scenarios": [],
|
| 401 |
+
"functional_labels": [
|
| 402 |
+
"retain the lens",
|
| 403 |
+
"border the viewing opening",
|
| 404 |
+
"finish the inner edge of the frame"
|
| 405 |
+
],
|
| 406 |
+
"semantic_description": "Slim purple-toned inner ring just inside the outer frame, encircling the lens opening as a narrow border.",
|
| 407 |
+
"id": 5,
|
| 408 |
+
"grasp_group": {}
|
| 409 |
+
}
|
| 410 |
+
],
|
| 411 |
+
"quality_check": {
|
| 412 |
+
"success": false,
|
| 413 |
+
"message": "Inner ring and lens colors/descriptions are swapped; one frame border description uses mask color instead of real appearance."
|
| 414 |
+
}
|
| 415 |
+
}
|
dataset/desktop_supplies/office_tools/fe35eece939c53bc99adcec5da8a4cc9/affordance/mesh_part_seg.glb
ADDED
|
@@ -0,0 +1,3 @@
|
|
|
|
|
|
|
|
|
|
|
|
|
| 1 |
+
version https://git-lfs.github.com/spec/v1
|
| 2 |
+
oid sha256:fd5b4f78faed33c92cfe83db306a129e75f5aafd6f149564b53b907b60300496
|
| 3 |
+
size 3792132
|